CN116785165A - A needle rotating device and remote needle rotating system - Google Patents

Abstract

The invention discloses a needle rotating device, which relates to the field of medical equipment and includes a support component, an alignment propulsion component and a rotation clamping component; the support component also fixes the end face of an external bracket plate, and the alignment propulsion component is fixed on the support On the assembly, the rotary clamping assembly is fixed on the alignment propulsion assembly here; the alignment propulsion assembly is configured to push out or retract the rotary clamping assembly in linear motion, so that the rotary clamping assembly The assembly is close to the lancet on the human body; the rotation clamping assembly is configured to clamp the lancet and rotate it to twist the needle. By utilizing the needle-turning system of this solution, efficient needle-turning treatment can be achieved for patients during acupuncture treatment; it facilitates the operation of medical staff, improves convenience, and reduces the labor intensity of personnel.

Description

Rotating needle device and remote rotating needle system

Technical Field

The invention relates to the field of medical instruments, in particular to a needle rotating device and a remote needle rotating system.

Background

The acupuncture treatment can effectively help patients to remove diseases and relieve pain, has unique and obvious curative effects on a plurality of diseases, is an important component in traditional Chinese medicine treatment, generally needs to be subjected to procedures of disinfection, needle insertion, needle twisting and the like, has easier disinfection procedures, but needs to have abundant operation experience and high concentration of energy for medical staff.

Especially for twisting needle operation, medical staff is required to reciprocally rotate the treatment needle for a long time so as to achieve effective treatment effect; the high concentration of long-time energy and the long-time needle rotating (twisting) operation easily cause the heart of medical staff to carry out the twisting operation for a long time, and the normal movement of the finger joints can be greatly influenced.

At present, the medical instrument is considered to be used for auxiliary operation, so that the aim of rotating needle treatment is fulfilled, and the labor intensity of medical staff is lightened.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a rotating needle device and a remote rotating needle system; through intelligent mode, realize operations such as changeing needle, plug needle, and then accomplish the treatment purpose to the disease.

Specifically, the detailed technical scheme provided by the invention is as follows:

a rotating needle device comprises a supporting component, an alignment pushing component and a rotating clamping component; the support assembly is also used for fixing the end face of the external support plate, the alignment pushing assembly is fixed on the support assembly, and the rotary clamping assembly is fixed on the alignment pushing assembly; the alignment pushing component is configured to conduct linear motions such as pushing out or retracting back on the rotary clamping component, so that the rotary clamping component is close to a puncture needle on a human body; the rotating clamping assembly is configured to clamp and rotate the lancet needle to twist the needle.

Further, the alignment propulsion assembly comprises a first linear propulsion source, a shell and a sliding seat body; wherein the housing is secured to the support assembly by a fastening plate; one end of the first linear propulsion source is fixed on the fastening plate, and the other end of the first linear propulsion source penetrates into the shell to be fixed with the sliding seat body; meanwhile, a chute is arranged in the shell; the sliding seat is characterized in that a sliding rail is arranged on the outer surface of the sliding seat body, and the sliding rail is matched with the sliding groove, so that the sliding seat body can slide relative to the shell.

Further, the rotary clamping assembly is fixed on the sliding seat body, and the movement of the sliding seat body brings the rotary clamping assembly to synchronously move, so that the rotary clamping assembly is close to the puncture needle or far away from the puncture needle.

Further, the rotary clamping assembly comprises a rotary tightening part and a rotary motor; the rotary tightening part is fixedly connected with an output shaft of the rotary motor; meanwhile, a first clamping piece is arranged below the rotating tightening part, the rotating tightening part is clamped by the first clamping piece, and the rotating tightening part is tightened under the rotation of the rotating motor.

Further, the rotary tightening part is of a three-grip chuck structure.

Further, the rotary clamping assembly further comprises a maintenance clamping part; the maintenance and stability clamping part is fixed on the foremost end face of the sliding seat body; the dimensionally stable clamping portion is a second clamping member configured to clamp a lancet on a person prior to the rotational tightening portion tightening the lancet.

Further, the alignment propulsion assembly further comprises a second linear propulsion source, the second linear propulsion source is fixed on the sliding seat body, and the rotating motor is fixed on the second linear propulsion source; the second linear propulsion source drives the rotating motor to linearly move.

A remote needle rotating system comprises a remote operation terminal, a multi-axis mechanical arm and a needle rotating device; the rotating needle device is fixed on the multi-axis mechanical arm, and the remote operation terminal is respectively connected with the multi-axis mechanical arm and the rotating needle device through signals; the teleoperational terminal is configured to control actions of the multi-axis robotic arm and the needle rotating device.

Further, the remote operation terminal comprises a demonstrator and a controller, wherein the demonstrator and the multi-axis mechanical arm have the same structure; operating the demonstrator in a signal connection state, wherein the multi-axis mechanical arm follows; the manipulator is configured for operating the disinfection device action. Further, the system also comprises a monitoring module; the monitoring module is configured to shoot images and monitor in real time; the remote operation terminal further comprises a display, and the display is configured to display the image transmitted by the monitoring module.

The beneficial effects achieved by adopting the technical scheme are as follows:

by utilizing the rotating needle system, the high-efficiency rotating needle treatment of patients during acupuncture treatment is realized; the operation of medical personnel is convenient, the convenience is improved, and the labor intensity of the personnel is reduced. Meanwhile, the remote needle rotating operation is the support for hospitals in remote areas, and some remote areas have insufficient staff or experience, so that the remote needle rotating system can realize remote assistance. Furthermore, remote control can separate doctors from patients, so that infection of diseases is avoided; of course, the system can also be used for remote disinfection when treating dangerous animals.

Drawings

Fig. 1 is a schematic diagram of remote control.

Fig. 2 is a perspective view of a multi-axis mechanical arm.

Fig. 3 is a perspective view of the rotating needle device.

Fig. 4 is a perspective view of the alignment pushing assembly.

Fig. 5 is a split block diagram of the alignment thrust assembly.

Fig. 6 is a block diagram of the carriage in the alignment advance assembly.

Fig. 7 is a perspective view of the rotational clamping assembly.

Fig. 8 is a perspective view of a remote control.

Wherein: 300 multiaxis mechanical arm, 320 monitoring module, 340 commentaries on classics needle device, 341 supporting component, 3411 supporting rack, 342 counterpoint propulsion unit, 3421 first straight line propulsion source, 3422 casing, 3423 slide, 343 rotation clamping component, 3431 rotation motor, 3432 rotation tightening part, 3433 first holder, 3434 second straight line propulsion source, 3435 steady clamping part.

Detailed Description

The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.

In this embodiment, a remote needle rotating system is provided, and by adopting a remote control manner, acupuncture treatment of twisting and inserting depth is achieved for a patient. Meanwhile, compared with the existing manual acupuncture, the remote needle rotating system in the scheme has great improvement on the control accuracy and the treatment effect of acupuncture treatment.

Specifically, the remote needle rotating system provided in the scheme comprises an acupuncture robot and a remote operation terminal.

The acupuncture robot is used for performing acupuncture operation, the remote operation terminal is used for remote control, and the remote operation terminal is connected with the acupuncture robot through a network; it can be understood that the remote operation terminal is utilized to remotely control the acupuncture robot, so that the acupuncture robot can accurately conduct acupuncture treatment on a patient under manual control.

Through adopting intelligent remote control's mode, not only very big reduction medical personnel's intensity of labour, at acupuncture treatment's in-process simultaneously, still reduced the infection risk that the patient contacted with medical personnel and lead to.

In a specific embodiment of the present solution, referring to fig. 1-3 and 8, the acupuncture robot includes a multi-axis mechanical arm 300, a monitoring module 320 and a rotating needle device 340, wherein the monitoring module 320 and the acupuncture operation group are both installed on the multi-axis mechanical arm 300, the multi-axis mechanical arm 300 operates the rotating needle device 340 to move to a treatment needle of a patient, and the monitoring module 320 is configured to take images and monitor in real time; the remote operation terminal comprises a demonstrator, a display and a controller, wherein the demonstrator has the same structure as the multi-axis mechanical arm 300, and is operated in a network connection state, and the multi-axis mechanical arm 300 follows; the display is used for displaying images shot by the monitoring module 320, and the controller is configured to operate the rotating needle device 340.

The basic control principle can be understood that a demonstrator which has the same structure as the multi-axis mechanical arm 300 or is approximately similar to the multi-axis mechanical arm 300 is arranged at the far end, the demonstrator is connected with the multi-axis mechanical arm 300 through network signals, and a professional medical staff operates the demonstrator to synchronously move the multi-axis mechanical arm 300, so that the movement track of the multi-axis mechanical arm 300 is identical to that of the demonstrator.

The controller and the rotating needle device 340 are controlled in a signal connection mode, the controller and the demonstrator are matched, and medical staff remotely controls the multi-axis mechanical arm 300 to move close to a patient through the demonstrator; the medical staff then remotely uses the controller, and controls the needle rotating device 340 by using the controller to perform needle rotating operation treatment on the patient.

However, it should be noted that, in order to enable the medical staff to accurately know the movement points of the multi-axis mechanical arm 300 and the rotating needle device 340 at the distal end, the monitoring module 320 plays an important role; the monitoring module 320 is utilized to monitor and grasp the position image of the therapeutic needle on the human body, so as to provide reliable image support for the needle rotating device 340 to perform the next human body needle rotating therapy.

Optionally, the multi-axis mechanical arm 300 has at least two movable axes, which can be a five-axis or six-axis mechanical structure commonly found in the market at present; in this scheme, the mechanical arm with six shafts is preferable, so that the rotating needle device 340 can freely move within the space range, and the convenience and the accuracy of the acupuncture process are improved.

Therefore, the remote cooperative robot acupuncture system adopting the scheme can effectively conduct remote acupuncture treatment on patients under the cooperation of the multi-axis mechanical arm 300, the monitoring module 320, the needle rotating device 340 and the remote operation terminal; simultaneously with intelligent application to medical equipment in, improvement work efficiency that can be very big reduces medical personnel's intensity of labour.

By adopting the design of the structure, when a patient is treated, a medical staff or intelligent equipment stably pierces a puncture needle (a treatment needle) into the body of the patient; and the needle is rotated by the needle rotating device to treat.

Rotating the lancet, which may be referred to as rotating the needle, may also be referred to as twisting the needle; the specific action is achieved by the rotating needle device 340 herein.

The rotating needle device 340 comprises a supporting component 341, an aligning pushing component 342 and a rotating clamping component 343; the supporting component 341 is fixed at the end face of the multi-axis mechanical arm, the alignment pushing component 342 is fixed on the supporting component 341, and the rotary clamping component 343 is fixed on the alignment pushing component 342.

Specifically, the supporting component 341 is provided with a supporting frame 3411, and the supporting frame 3411 is composed of four supporting rods and is fixed in the end face of the multi-axis mechanical arm; the supporting component 341 mainly plays a supporting role; the main function of the alignment pushing component 342 is to push out or retract the rotary clamping component 343, so that the rotary clamping component 343 can be closer to the puncture needle on the human body; the main purpose of the rotating clamping assembly 343 is to clamp and rotate the lancet so as to simulate an artificial twisting needle.

That is, the alignment pushing assembly 342 drives the rotating clamping assembly 343 to linearly extend to a predetermined position, and then the lancet is clamped and rotated by the rotating clamping assembly 343.

Referring to fig. 3-7, the alignment propulsion assembly 342 comprises a first linear propulsion source 3421, a housing 3422, and a carriage 3423; wherein the housing 3422 is fixed to the supporting assembly 341 by a fastening plate while a chute is provided inside the housing 3422; the outer surface of the sliding base 3423 is provided with a sliding rail, and the sliding base 3423 can slide relative to the shell 3422 through the cooperation between the sliding rail and the sliding groove; of course, the relative sliding is driven by the first linear propulsion source 3421, one end of the first linear propulsion source 3421 is fixed on the fastening plate, and the other end penetrates into the housing 3422 to be fixed with the sliding base 3423. Thus, the first linear propulsion source 3421 can be operated to achieve the purpose of linear sliding of the carriage 3423 with respect to the housing 3422.

Alternatively, the first linear propulsion source 3421 may be a cylinder, an electric cylinder, or a linear motor.

In this embodiment, the rotating clamping assembly 343 is fixed on the sliding base 3423, so that the motion of the sliding base 3423 will move synchronously with the rotating clamping assembly 343, thereby realizing that the rotating clamping assembly 343 is close to the lancet or far from the lancet.

Specifically, the rotating clamping assembly 343 includes a stabilizing clamping section, a rotating tightening section, and a rotating motor 3431; wherein, the rotation motor 3431 is fixedly connected in front of the alignment propulsion component 342, specifically, the rotation motor 3431 is fixed on the slide body 3423, and the rotation tightening part 3432 is fixedly connected with an output shaft of the rotation motor 3431; the rotation tightening part 3432 here is similar to a three-grip chuck in structure, while a first clamp 3433 is provided below the rotation tightening part 3432, which first clamps the rotation tightening part 3432 here, and the rotation of the rotation motor 3431 causes the rotation tightening part 3432 to be tightened, and then the first clamp 3433 to be released, so that the rotation motor 3431 can rotate with the rotation tightening part 3432 in a tightened state.

The rotation tightening part 3432 is mainly used for clamping and tightening the lancet, and then rotates (twists) with the lancet by the rotation motor 3431.

Optionally, a second linear propulsion source 3434 is further included, the second linear propulsion source 3434 being fixed to the carriage 3423, and the rotating motor 3431 described above being fixed to the second linear propulsion source 3434. The second linear propulsion source 3434 can enable the rotational tightening portion 3432 to be closer to the dimensionally stable gripping portion 3435.

The dimensionally stable gripping portion 3435 here is provided in front of the rotational tightening portion 3432; the second clamping member is mainly used for clamping the puncture needle on the human body before the rotation tightening part 3432 is used for tightening the puncture needle, so that the rotation tightening part 3432 can clamp the puncture needle smoothly and stably.

The specific working principle is as follows: the first linear propulsion source 3421 first works to push the slide 3423 out relative to the housing 3422, so that the dimensionally stable clamping part 3435 (second clamping part) fixed at the farthest end of the slide 3423 is close to the patient; the maintenance and stabilization clamping part 3435 then acts to clamp the lancet on the patient to perform the function of pre-stabilization. Then the second linear propulsion source 3434 is operated again, the rotating motor 3431, the rotating tightening part 3432 and the first clamping piece 3433 are driven to gradually approach the stable clamping part 3435 until the tail end of the puncture needle is positioned in the rotating tightening part 3432, at the moment, the first clamping piece 3433 clamps the rotating tightening part 3432 again, and the rotating motor 3431 is started to drive the rotating tightening part 3432 to gradually clamp the puncture needle and is in a tightening state; then, the first clamping member 3433 is released, and the second clamping member is also released; the rotating motor 3431 can rotate the needle with the needle, thereby achieving the purpose of twisting the needle.

After the acupuncture is completed by using the rotating needle device 340, the second linear propulsion source 3434 is retracted, so that the rotating tightening part 3432 carries the acupuncture needle and the acupuncture needle is pulled out from the human body; then, the first clamp again clamps the rotation tightening part 3432, and the rotation motor 3431 rotates reversely, so that the rotation tightening part 3432 releases the lancet. The lancet will be collected in a receiving box (not shown).

So far, the principle introduction of acupuncture treatment on patients by utilizing the remote needle rotating system of the scheme is completed.

In the scheme, a remote control mode is adopted, and under the cooperation of the monitoring module, the demonstrator is controlled to act, so that the multi-axis mechanical arm synchronously acts; realizing approaching to human body or separating from human body; then the controller controls the needle rotating device to act so as to complete the acupuncture needle rotating operation of the human body. The intelligent practical application is realized, and the intelligent acupuncture needle has great guarantee effects on the aspects of reducing the labor intensity of medical staff, improving the acupuncture treatment efficiency and the like.

By utilizing the rotating needle system, the high-efficiency rotating needle treatment of patients during acupuncture treatment is realized; the operation of medical personnel is convenient, the convenience is improved, and the labor intensity of the personnel is reduced. Meanwhile, the remote needle rotating operation is the support for hospitals in remote areas, and some remote areas have insufficient staff or experience, so that the remote needle rotating system can realize remote assistance. Furthermore, remote control can separate doctors from patients, so that infection of diseases is avoided; of course, the system can also be used for remote disinfection when treating dangerous animals.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims (10)

1. A needle rotating device, characterized in that it includes a support component (341), an alignment propulsion component (342) and a rotation clamping component (343); the support component (341) also fixes an external multi-axis mechanical arm ( 300), the alignment propulsion component (342) is fixed on the support component (341), and the rotation clamping component (343) is fixed on the alignment propulsion component (342) here; the alignment propulsion component The assembly (342) is configured to perform linear motions such as pushing out or retracting the rotating clamping assembly (343), so that the rotating clamping assembly (343) is close to the lancet on the human body; the rotating clamping assembly (343) ) is configured to clamp and rotate the felting needle to twist the needle. 2. A needle rotating device according to claim 1, characterized in that the alignment propulsion assembly (342) includes a first linear propulsion source (3421), a housing (3422) and a slide body (3423) ); wherein the housing (3422) is fixed on the support assembly (341) through a fastening plate; one end of the first linear propulsion source (3421) is fixed on the fastening plate, and the other end penetrates the shell The inside of the body (3422) is fixed to the slide body (3423); at the same time, a chute is provided inside the housing (3422); a slide rail is provided on the outer surface of the slide body (3423), so The cooperation between the slide rail and the slide groove enables the slide body (3423) to slide relative to the housing (3422). 3. A needle rotating device according to claim 2, characterized in that the rotating clamping assembly (343) is fixed on the sliding body (3423), and the movement of the sliding body (3423) With the synchronous movement of the rotating clamping assembly (343), the rotating clamping assembly (343) can be moved closer to or away from the lancet. 4. A needle rotating device according to claim 3, characterized in that the rotating clamping assembly (343) includes a rotating tightening part (3432) and a rotating motor (3431); wherein the rotating motor (3431 ) is fixedly connected to the slide body (3423), and the rotation tightening part (3432) is fixedly connected to the output shaft of the rotation motor (3431); at the same time, a third rotation tightening part (3432) is provided below A clamping part (3433), the first clamping part (3433) first clamps the rotating tightening part (3432) here, and under the rotation of the rotating motor (3431), the rotating tightening part (3432) will be 3432) for tightening. 5. A needle rotating device according to claim 4, characterized in that the rotating tightening part (3432) has a three-grip chuck structure. 6. A needle rotating device according to claim 5, characterized in that the rotation clamping assembly (343) further includes a stability clamping part (3435); the stability clamping part (3435) is fixed on the The frontmost end surface of the slide body (3423); the stability clamping part (3435) is a second clamping part, and the second clamping part is mainly configured to be on the rotating tightening part (3432) Clamp the needle on the body before tightening it. 7. A needle rotating device according to claim 6, characterized in that the alignment propulsion assembly (342) further includes a second linear propulsion source (3434), the second linear propulsion source (3434) Fixed on the slide body (3423), the rotating motor (3431) is fixed on the second linear propulsion source (3434); the second linear propulsion source (3434) drives the rotating motor (3431 ) moves in a straight line. 8. A remote needle rotating system, characterized in that it includes a remote operation terminal, a multi-axis mechanical arm (300) and a needle rotating device as claimed in claim 7; the needle rotating device is fixed on the multi-axis mechanical arm (300), the remote operation terminal is signally connected to the multi-axis mechanical arm (300) and the needle rotating device respectively; the remote operation terminal is configured to control the multi-axis mechanical arm (300) and the The needle rotating device operates. 9. A remote needle rotation system according to claim 8, characterized in that the remote operation terminal includes a teaching pendant and a manipulator, and the structure of the teaching pendant and the multi-axis mechanical arm (300) Same; operating the teaching pendant in the signal connection state, the multi-axis robotic arm (300) follows; the manipulator is configured to operate the disinfection device. 10. A remote needle rotation system according to claim 9, further comprising a monitoring module (320); the monitoring module (320) is configured to capture images and perform real-time monitoring; the remote operation The terminal also includes a display configured to display images transmitted by the monitoring module (320).